*M. Tech. Program, Design Engineering, Dept. of Mechanical Engineering, Medi-Caps University, Indore, Madhya Pradesh, India
**Professor, Dept. of Mechanical Engineering, Medi-Caps University, Indore, Madhya Pradesh, India
Two-fingered parallel grippers often use Four-Bar mechanism with gears to operate both the fingers. This paper describes the development of the similar type of gripper (modeled on CREO and 3-D printed working model with ABS material) with two DC servo motors for the respective fingers instead of gears, because these motors have standard sizes and are easily available in the market. As an integrated feature, the rolling of complete gripper assembly is provided about the shaft of another servo motor attached to the gripper body. Also, an additional embracement plate allows the Four-Bar mechanism to move in a plane making the fingers stable and firm while loading and unloading the external object of varying size from 15mm to 80mm. The configuration diagrams and the force vector diagrams are drawn on AutoCad 2016 for every 5° motion of crank, and thus, the gripper force is calculated. The developed model was used in articulated robot for simple pick and place operations.
Parallel gripper, two fingers, high gripper ratio, 4-bar mechanism, servo motor, pick and place, gripper design
